Epson SCARA ROBOT Manipulator Manual page 207

Calibration Using Right / Left Arm Orientations
(1) Check the point data for calibration
(2) Open the Tools menu | Robot Manager | Control Panel and click the MOTOR ON.
(3) Click the <Free All> button to free all joints from servo control. Now, you can move
(4) Move the arms to the position of point data for calibration in rightly arm orientation.
(5) From the current position, teach any point data number unused.
(6) Click the Lock All in the [Control Panel] to lock all joints under servo control.
(7) Switch to the lefty arm orientation. Then, move the arm to the same point.
(8) The joints are slightly out of position.
(9) Input the new Hofs value.
(10) From the current lefty arm orientation (the position in the step (8)), teach the point
(11) Switch to the righty arm orientation. Then, make sure the manipulator move to the
(12) Move the manipulator to other point data and make sure it moves to the correct
G6 Rev.21
Use a pose (point) you can easily verify the accuracy within the work envelop of
both right and left arm. Then, check the number of pose (point) you want to use.
arms by hands.
This pose (point) is now called P1.
Specify the point number "1" and click the <Teach> button in the [Jog & Teach].
>Jump P1/L:Z(0) '
* If there is interference on the way from right to lefty, click the Free All in the
[Control Panel] and change the arm orientation to lefty by hands. Then, go to the
step (6), (7).
Adjust the gap with the −Z in the Jogging group in the [Jog & Teach]. Then, teach
another point data number unused. This pose (point) is now called P2.
Specify point number "P2" and click the <Teach> button in [Jog & Teach].
> Hofs Hofs (1), Hofs (2) + (Ppls(P1,2) + Ppls(P2,2)) /
2, Hofs(3), Hofs(4)
data number used in the step (8). This pose (point) is called P2.
Specify point number "P2" and click the <Teach> button in [Jog & Teach].
correct position.
>Jump P2/R
* If there is any interference on the way from lefty to righty, click the Free All in the
[Control Panel] and change the arm orientation to righty by hands. Then, go to
the step (6), (11).
position. Teach some more points if required.
* Delete the two points taught for the Joint #2 calibration.
Change the arm orientation from righty to lefty
Z is the maximum position
' Change the arm orientation from lefty to righty
Maintenance 13. Calibration
195